sdf::SDF_VERSION_NAMESPACE::Capsule Class Reference

Capsule represents a capsule shape, and is usually accessed through a Geometry. More...

#include <Capsule.hh>

Public Member Functions
	Capsule ()
	Constructor. More...
std::optional< gz::math::Inertiald >	CalculateInertial (double _density)
	Calculate and return the Inertial values for the Capsule. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
double	Length () const
	Get the capsule's length in meters. More...
Errors	Load (ElementPtr _sdf)
	Load the capsule geometry based on a element pointer. More...
double	Radius () const
	Get the capsule's radius in meters. More...
void	SetLength (const double _length)
	Set the capsule's length in meters. More...
void	SetRadius (const double _radius)
	Set the capsule's radius in meters. More...
gz::math::Capsuled &	Shape ()
	Get a mutable Gazebo Math representation of this Capsule. More...
const gz::math::Capsuled &	Shape () const
	Get the Gazebo Math representation of this Capsule. More...
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this capsule. More...
sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this capsule. More...

Detailed Description

Capsule represents a capsule shape, and is usually accessed through a Geometry.

Constructor & Destructor Documentation

Capsule()

sdf::SDF_VERSION_NAMESPACE::Capsule::Capsule

(

)

Constructor.

Member Function Documentation

CalculateInertial()

std::optional< gz::math::Inertiald > sdf::SDF_VERSION_NAMESPACE::Capsule::CalculateInertial

(

double

_density

)

Calculate and return the Inertial values for the Capsule.

In order to calculate the inertial properties, the function mutates the object by updating its material properties.

Parameters

[in]

_density

Density of the capsule in kg/m^3

Returns

A std::optional with gz::math::Inertiald object or std::nullopt

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Capsule::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

Length()

double sdf::SDF_VERSION_NAMESPACE::Capsule::Length

(

)

const

Get the capsule's length in meters.

Returns

The length of the capsule in meters.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Capsule::Load

(

ElementPtr

_sdf

)

Load the capsule geometry based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Radius()

double sdf::SDF_VERSION_NAMESPACE::Capsule::Radius

(

)

const

Get the capsule's radius in meters.

Returns

The radius of the capsule in meters.

SetLength()

void sdf::SDF_VERSION_NAMESPACE::Capsule::SetLength

(

const double

_length

)

Set the capsule's length in meters.

Parameters

[in]

_length

The length of the capsule in meters.

SetRadius()

void sdf::SDF_VERSION_NAMESPACE::Capsule::SetRadius

(

const double

_radius

)

Set the capsule's radius in meters.

Parameters

[in]

_radius

The radius of the capsule in meters.

Shape() [1/2]

gz::math::Capsuled & sdf::SDF_VERSION_NAMESPACE::Capsule::Shape

(

)

Get a mutable Gazebo Math representation of this Capsule.

Returns

A reference to a gz::math::Capsuled object.

Shape() [2/2]

const gz::math::Capsuled & sdf::SDF_VERSION_NAMESPACE::Capsule::Shape

(

)

const

Get the Gazebo Math representation of this Capsule.

Returns

A const reference to a gz::math::Sphered object.

ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Capsule::ToElement

(

)

const

Create and return an SDF element filled with data from this capsule.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated capsule values.

ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Capsule::ToElement

(

sdf::Errors &

_errors

)

const

Create and return an SDF element filled with data from this capsule.

Note that parameter passing functionality is not captured with this function.

Parameters

[out]

_errors

Vector of errors.

Returns

SDF element pointer with updated capsule values.

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The documentation for this class was generated from the following file:

• Capsule.hh